Positioning method of functional rotation center of shoulder based on rigid upper arm model

ABSTRACT

A positioning method of functional rotation center of shoulder based on rigid upper arm model includes: step 1: abstracting a human upper arm into a cylinder with FRCS as a center of top surface; step 2: determining a reference axis vector of the cylinder; step 3: determining an axis vector of the cylinder and a displacement from the reference axis vector to the axis vector; step 4: correcting a central axis direction of the cylinder; step 5: determining a height compensation of the cylinder, and positioning the FRCS. The method has higher accuracy for the positioning result of FRCS, the positioning result of FRCS has better stability relative to the upper arm and trunk, and can be used to establish a more accurate human digital dynamic model and predict more accurate human posture.

CROSS REFERENCE TO THE RELATED APPLICATIONS

This application is the national phase entry of International Application No. PCT/CN2021/080983, filed on Mar. 16, 2021, which is based upon and claims priority to Chinese Patent Application No. 202011325500.4, filed on Nov. 24, 2020, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The present invention relates to the technical field of human motion measurement, in particular to a positioning method of functional rotation center of shoulder based on rigid upper arm model.

BACKGROUND

At present, human motion measurement and posture prediction technology are playing an important role in various fields, such as athlete selection, motion capture of sports, computer vision, biomedicine and medical devices. In process of human motion measurement and posture prediction, shoulder joint is the most flexible joint in human upper limb, and its positioning is an important link in establishing human digital dynamic model.

In field of biomedicine, glenohumeral anatomical center (GHAC) infers from a position of a humeral head in anatomy; in field of human motion measurement, the functional rotation center of shoulder (FRCS) is defined as a rotation center of an upper arm in motion, and is positioned by kinematic parameters of the human upper arm.

Before concept of the FRCS is put forward, the positioning of the rotation center of the shoulder joint uses a method of locating the GHAC for reference, that is, according to scanning results of human shoulder contour and combining with complex anatomical knowledge, the bone shape envelope of humerus and scapula is predicted and researched digitally, so as to locate the rotation center of the shoulder joint. However, because the measurement of the GHAC is completed under static or approximate static conditions, even if the bone shape envelope of humerus and scapula is estimated very accurately, the rotation center of the shoulder joint positioned is still very insufficient in establishing the human digital dynamic model.

After the concept of the FRCS is put forward, early FRCS is located by using a cadaver, an intersection of three rotation axes, FRCS, is located by setting long nails on the rotation axes of the upper arm of the cadaver. However, because the movement of the cadaver is non-subjective, the FRCS determined by this method still has defect of insufficient accuracy in establishing the human digital dynamic model.

Japan Digital Human Research Center proposes a method to measure human FRCS in motion, the method completely abandons restriction of anatomical knowledge on the FRCS, and obtains accurate reachable domain of the upper limb by using geometric algorithm. Advantages of this method are the FRCS is calculated according to a moving human body and is more in accord with motion posture of the human body, and there is a correlation between the position of the FRCS of the moving human body and limb angle, which can be used to establish a more accurate human digital dynamic model. In the case of losing a geometric limitation of the anatomical knowledge, a positioning error of the FCRS caused by systematic error, skin deformation and so on will be transmitted and amplified in geometric calculation, resulting in serious deviation of FRCS positioning result.

SUMMARY

In order to solve the problem of insufficient accuracy of the FRCS positioning result in the above prior art, the present invention provides a positioning method of functional rotation center of shoulder based on rigid upper arm model.

A positioning method of functional rotation center of shoulder based on rigid upper arm model, comprises:

step 1: abstracting a human upper arm into a cylinder with FRCS as a center of top surface; step 2: determining a reference axis vector of the cylinder; step 3: determining an axis vector of the cylinder and a displacement from the reference axis vector to the axis vector; step 4: correcting a central axis direction of the cylinder; step 5: determining a height compensation of the cylinder, and positioning the FRCS.

Preferably, in the step 1, skin surface of the human upper arm is abstracted as side surface of the cylinder.

In any of the above solutions, it is preferred that in the step 2, the reference axis vector is a vector {right arrow over (A^(rm))} which starts from a midpoint (represented by mark MD) of medial and lateral epicondylar points of the humerus on human surface and points to an acromion point (represented by mark MU), and its direction is a reference direction of the cylinder.

In any of the above solutions, it is preferred that in the step 2, {right arrow over (A^(rm))}=M^(U)−M^(D), wherein M^(U)=[X^(U) Y^(U) Z^(U)]^(T) represents position information of the acromion point MU, M^(D)=[X^(D) Y^(D) Z^(D)]^(T) represents position information of the midpoint MD of the medial and lateral epicondylar points of the humerus;

In any of the above solutions, it is preferred that for any point A on the skin surface of the human upper arm, position information of the point A from starting time t₀ to ending time t_(S) is expressed as M^(A),

${M^{A} = {\begin{bmatrix} X^{A} & Y^{A} & Z^{A} \end{bmatrix}^{T} = \begin{bmatrix} X_{t_{0}}^{A} & X_{t_{0} + {\Delta t}}^{A} & X_{t_{0} + {2\Delta t}}^{A} & \ldots & X_{t_{s}}^{A} \\ Y_{t_{0}}^{A} & Y_{t_{0} + {\Delta t}}^{A} & Y_{t_{0} + {2\Delta t}}^{A} & \ldots & Y_{t_{s}}^{A} \\ Z_{t_{0}}^{A} & Z_{t_{0} + {\Delta t}}^{A} & Z_{t_{0} + {2\Delta t}}^{A} & \ldots & Z_{t_{s}}^{A} \end{bmatrix}}},$

wherein t_(S)=t₀+kΔt, k≥3, Δt is sampling interval.

In any of the above solutions, it is preferred that in the step 3, the reference axis vector is translated {right arrow over (D^(pm))} in a direction perpendicular to the reference direction to obtain the axis vector, and the distance from the axis vector to each point on the skin surface of the upper arm is equal.

In any of the above solutions, it is preferred that an end point of the axis vector is a vertex of the cylinder, that is, FRCS, and position information of the FRCS is expressed as:

RCS ^(F) =M ^(U)+{right arrow over (D ^(pm))}  ({circle around (1)}).

In any of the above solutions, it is preferred that the step 3 comprises:

-   -   step 31: determining three marking points M1, M2 and M3 on the         skin surface of the human upper arm, and vertical vectors {right         arrow over (R¹)}, {right arrow over (R²)}, and {right arrow over         (R³)} respectively from the marking points M1, M2 and M3 to the         reference axis vector being translated to make a start point of         each vertical vector be located at the midpoint MD of the medial         and lateral epicondylar points of the humerus at that time;         step 32: determining a center of a circle where an end point of         each vertical vector is located after translation (represented         by mark O), a displacement from the midpoint MD of the medial         and lateral epicondyle points of the humerus to the center O         being a displacement from the reference axis vector to the axis         vector, namely {right arrow over (D^(pm))}.

In any of the above solutions, it is preferred that in the step 3, for any time t_(a) in process, translating a coordinate system to establish a local coordinate system which takes M_(t) _(a) ^(D)=[X_(t) _(a) ^(D) Y_(t) _(a) ^(D) Z_(t) _(a) ^(D)]^(T) as a coordinate origin, then, at the time t_(a), reverse vectors {right arrow over (R_(t) _(a) ^(n))} of vertical vectors respectively from the marking points M1, M2 and M3 to the reference axis vector satisfy a relational formula {right arrow over (R_(t) _(a) ^(n))}=R_(t) _(a) ^(n)−0, wherein, R_(t) _(a) ^(n) represent end coordinates of the vectors {right arrow over (R_(t) _(a) ^(n))}, n=1, 2, 3.

In any of the above solutions, it is preferred that according to formula

$\begin{matrix} {{❘\begin{matrix} O_{{xt}_{a}} & O_{{yt}_{a}} & O_{{zt}_{a}} & 1 \\ R_{{xt}_{a}}^{1} & R_{{yt}_{a}}^{1} & R_{{zt}_{a}}^{1} & 1 \\ R_{{xt}_{a}}^{2} & R_{{yt}_{a}}^{2} & R_{{zt}_{a}}^{2} & 1 \\ R_{{xt}_{a}}^{3} & R_{{yt}_{a}}^{3} & R_{{zt}_{a}}^{3} & 1 \end{matrix}❘} = 0} &  \end{matrix}$

and formula

$\begin{matrix} {{\left( {R_{{xt}_{a}}^{1} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{1} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{1} - O_{{zt}_{a}}} \right)^{2}} = {{\left( {R_{{xt}_{a}}^{2} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{2} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{2} - O_{{zt}_{a}}} \right)^{2}} = {\left( {R_{{xt}_{a}}^{3} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{3} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{3} - O_{{zt}_{a}}} \right)^{2}}}} &  \end{matrix}$

determine coordinates O_(t) _(a) =[O_(xt) _(a) , O_(yt) _(a) O_(zt) _(a) ]^(T) of the center O at the time t_(a), restore them to a global coordinate system, that is, translate the vector {right arrow over (A^(rm))} to make a starting point of the vector A^(rm) coincide with the O_(t) _(a) to obtain a translation {right arrow over (D^(pm))}, at this time, an end point of the vector {right arrow over (A^(rm))} after translation is the position of the FRCS.

In any of the above solutions, it is preferred that in the step 4, the central axis of the cylinder is corrected by introducing a proportion coefficient n of a height of the marking point on the surface of the upper arm in the cylinder to a total height of the cylinder.

In any of the above solutions, it is preferred that the step 4 includes:

step 41: projecting the three marking points M1, M2 and M3 on the surface of the upper arm to the reference axis vector, for any time t_(a) in the process, there being relational formulas

$\begin{matrix} \left\{ \begin{matrix} {{{n_{t_{a}}^{fir}\overset{\rightarrow}{A_{t_{a}}^{rm}}} + \overset{\rightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{1} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{\sec}\overset{\rightarrow}{A_{t_{a}}^{rm}}} + \overset{\rightarrow}{R_{t_{a}}^{2}}} = {M_{t_{a}}^{2} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{thd}\overset{\rightarrow}{A_{t_{a}}^{rm}}} + \overset{\rightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{3} - M_{t_{a}}^{D}}} \end{matrix} \right. &  \end{matrix}$ and $\begin{matrix} \left\{ \begin{matrix} {{\overset{\rightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\rightarrow}{R_{t_{a}}^{1}}} = 0} \\ {{\overset{\rightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\rightarrow}{R_{t_{a}}^{2}}} = 0} \\ {{\overset{\rightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\rightarrow}{R_{t_{a}}^{3}}} = 0} \end{matrix} \right. &  \end{matrix}$

wherein {right arrow over (R_(t) _(a) ¹)} represents a vector starting from a perpendicular foot from the marking point M1 to the vector {right arrow over (A_(t) _(a) ^(rm))} and pointing to the marking point M1 at time t_(a), meanings of {right arrow over (R_(t) _(a) ²)} and R_(t) _(a) ³ can be inferred from this; n_(t) _(a) ^(fir), n_(t) _(a) ^(sec) and n_(t) _(a) ^(thd) respectively represent ratios of vectors starting from MD and pointing to the perpendicular foot of the marking points M1, M2 and M3 to the vector {right arrow over (A_(t) _(a) ^(rm))} at the time t_(a); M_(t) _(a) ¹ represents position coordinates of the marking point M1 at the time t_(a), meanings of M_(t) _(a) ², M_(t) _(a) ³, M_(t) _(a) ^(D), M_(t) _(a) ^(U) can be inferred from this. step 42: marking n^(fir)=[n_(t) ₀ ^(fir) n_(t) ₀ _(+Δt) ^(fir) n_(t) ₀ _(°2Δt) ^(fir) . . . n_(t) _(S) ^(fir)],

${n^{al} = \begin{bmatrix} n^{fir} \\ n^{\sec} \\ n^{thd} \end{bmatrix}},$

combining formula {circumflex over (6)} with formula {circumflex over (7)}, obtaining that at the time t_(a):

$n_{t_{a}}^{al} = {\begin{bmatrix} \left( {M_{t_{a}}^{1} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{2} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{3} - M_{t_{a}}^{D}} \right)^{T} \end{bmatrix} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right) \cdot {\left( {\left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)^{T} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)} \right)^{- 1}.}}$

step 43: selecting a proportion coefficient n_(t) _(j) ^(al) as a standard coefficient at time t_(j) when arms are vertically downward in a human standing posture, adding a correction amount {right arrow over (A_(ta) ^(cps))} to the {right arrow over (A_(t) _(a) ^(rm))} at any time t_(a) to make the proportion coefficient n_(t) _(a) ^(al) close to n_(t) _(j) ^(al), that is to make:

$n^{{al}^{\prime}} = \begin{bmatrix} {n_{t_{j}}^{fir} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{\sec} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{thd} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \end{bmatrix}$

and n^(al′) and {right arrow over (A_(t) _(a) ^(rm′))} after corrected meet the requirements of the formulas {circle around (4)} and {circle around (5)}. step 44: according to the correction amount {right arrow over (A_(ta) ^(cps))} change modulus |{right arrow over (A_(t) _(a) ^(rm))}| of the axis vector, obtaining:

|{right arrow over (A _(t) _(a) ^(rm′))}|=|{right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps))}|=|{right arrow over (A _(t) _(a) ^(tm))}|  ({circle around (8)})

step45: in a conical generatrix set satisfying the first column of formula {circle around (6)}, the first column of formula {circle around (7)} and formula {circle around (8)}, a conical generatrix set satisfying the second column of formula {circle around (6)}, the second column of formula {circle around (7)} and formula {circle around (8)}, and the conical generatrix set satisfying the third column of formula {circle around (6)}, the third column of formula {circle around (7)} and formula {circle around (8)}, respectively selecting solutions closest to {right arrow over (A_(t) _(a) ^(rm))} and combining them to obtain {right arrow over (A_(t) _(a) ^(rm′))}, and then obtaining a final correction {right arrow over (A_(ta) ^(cps))}, according to thefinal correction {right arrow over (A_(ta) ^(cps))}, rewriting the formula {circle around (1)} as:

RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D^(rpm))}  {circle around (13)}

wherein {right arrow over (D^(pm))} is resolved according to the axis vector {right arrow over (A^(rm′))} in the correction direction.

In any of the above solutions, it is preferred that in the step 5, after determine the height compensation of the cylinder, a final calculation formula of FRCS is:

RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D ^(pm))}−(1−l ^(rm))({right arrow over (A ^(rm))}+{right arrow over (A ^(cps))})  {circle around (17)}

wherein, the l^(rm) is a height compensation coefficient of the cylinder.

The positioning method of functional rotation center of shoulder based on rigid upper arm model of the present invention has higher accuracy for the positioning result of FRCS, the positioning result of FRCS has better stability relative to the upper arm and trunk, and can be used to establish a more accurate human digital dynamic model and predict more accurate human posture.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flowchart of a preferred embodiment of a positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 2 is a schematic diagram of a reference axis vector and an axis vector of the embodiment shown in FIG. 1 of positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 3 is a schematic diagram of three marking points of the embodiment shown in FIG. 1 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 4 -FIG. 6 are schematic diagrams of correction of a central axis of the embodiment shown in FIG. 1 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 7 is a schematic diagram of a positioning process of the embodiment shown in FIG. 1 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 8 is a schematic diagram of an experimental environment of another embodiment of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 9 is a schematic diagram of pasting positions of the marking points on the human upper arm during an experiment of the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 10 is a data acquisition result of marking points of a subject in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 11 is a motion trajectory of a right upper arm of a subject in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 12 is a schematic diagram of a relative position in trunk of the FRCS positioning result of subject No. 1 in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 13 shows coefficients n1, n2 and n3 of three marking points M1, M2 and M3 on the upper arm to a corrected axis vector for the subject No. 1 in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 14 shows variation trend of the coefficients n1, n2 and n3 of the three marking points M1, M2 and M3 on the upper arm to the axis vectors before and after correction during test time for the subject No. 1 in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 15 is a schematic diagram of translation correction of a central axis position of the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 16 shows before compensation, variations of distance from the FRCS positioning result to the three marking points M1, M2 and M3 on the upper arm for the subject No. 1 in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 17 shows after compensation, variations of distance from the FRCS positioning result to the three marking points M1, M2 and M3 on the upper arm for the subject No. 1 in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

FIG. 18 shows standard deviation of variations of distance from the FRCS positioning result to the three marking points on the upper arm for right shoulders of 28 subjects in the embodiment shown in FIG. 8 of the positioning method of functional rotation center of shoulder based on rigid upper arm model according to the present invention.

DETAILED DESCRIPTION OF THE EMBODIMENTS

For better understanding of the present invention, detailed description of the invention is provided below with reference to specific embodiments.

Embodiment 1

As shown in FIG. 1 , a positioning method of functional rotation center of shoulder based on rigid upper arm model comprises:

step 1: abstracting a human upper arm into a cylinder with FRCS as a center of top surface; step 2: determining a reference axis vector of the cylinder; step 3: determining an axis vector of the cylinder and a displacement from the reference axis vector to the axis vector; step 4: correcting a central axis direction of the cylinder; step 5: determining a height compensation of the cylinder, and positioning the FRCS.

For the step 1: abstracting a human upper arm into a cylinder with FRCS as a center of top surface, in this embodiment:

when human trunk is fixed, a main way of movement of the upper arm is rotation. In a very short time, motion amplitude of an end of a humerus is much greater than that of a top of the humerus, if a deformation of the upper arm in the movement is ignored, the upper arm rotates approximately around the FRCS in the movement. In geometric operations, if spatial position changes of at least three points on surface of the upper arm can be obtained, a position of the FRCS can be determined. Therefore, in the step 1, the human upper arm is abstracted into a cylinder with FRCS as a center of top surface, and accordingly, the skin surface of the human upper arm is abstracted as side surface of the cylinder.

For the step 2: determining a reference axis vector of the cylinder, in this embodiment:

as shown in FIG. 2 , in the step 2, the reference axis vector is a vector {right arrow over (A^(rm))} which starts from a midpoint (represented by mark MD) of medial and lateral epicondylar points of the humerus on human surface and points to an acromion point (represented by mark MU), and its direction is a reference direction of the cylinder, mark {right arrow over (A^(rm))}=M^(U)−M^(D), wherein M^(D)=[X^(U) Y^(U) Z^(U)]^(T) represents position information of the acromion point MU, M^(D)=[X^(D) Y^(D) Z^(D)]^(T) represents position information of the midpoint MD of the medial and lateral epicondylar points of the humerus.

In motion measurement, a measurement process will last for a period, for convenience of description, starting time of the measurement process is denoted by t₀, and ending time thereof is denoted by t_(S), during the period, positions of selected marking points on human surface are continuously collected to obtain position information of the marking points on the human surface within the period. For any point A on the skin surface of the human upper arm, position information of the point A from starting time t₀ to ending time t_(S) is expressed as M^(A),

${M^{A} = {\begin{bmatrix} X^{A} & Y^{A} & Z^{A} \end{bmatrix}^{T} = \begin{bmatrix} X_{t_{0}}^{A} & X_{t_{0} + {\Delta t}}^{A} & X_{t_{0} + {2\Delta t}}^{A} & \ldots & X_{t_{s}}^{A} \\ Y_{t_{0}}^{A} & Y_{t_{0} + {\Delta t}}^{A} & Y_{t_{0} + {2\Delta t}}^{A} & \ldots & Y_{t_{s}}^{A} \\ Z_{t_{0}}^{A} & Z_{t_{0} + {\Delta t}}^{A} & Z_{t_{0} + {2\Delta t}}^{A} & \ldots & Z_{t_{s}}^{A} \end{bmatrix}}},$

wherein t_(S)=t₀+kΔt, k≥3, Δt is sampling interval. In this embodiment, considering convenience of calculation, limitation of experimental conditions, and accuracy and repeatability of calculation results, it is set that k=500, Δt=0.01 ms.

For the step 3: determining an axis vector of the cylinder and a displacement from the reference axis vector to the axis vector, in this embodiment:

as shown in FIG. 2 , in the step 3, the reference axis vector {right arrow over (A^(rm))} is translated {right arrow over (D^(pm))} in a direction perpendicular to the reference direction to obtain the axis vector, and distance from the axis vector to each point on the skin surface of the upper arm is equal. An end point of the axis vector is a vertex of the cylinder, that is, FRCS, and position information of the FRCS is expressed as:

RCS ^(F) =M ^(U)+{right arrow over (D ^(pm))}  ({circle around (1)}).

Because the axis vector is obtained by translating the reference axis vector in the direction perpendicular to the reference direction, and the distance from the axis vector to the marking points on the upper arm is equal, therefore, if three mark points are selected on skin surface of the upper arm, according to properties in spatial geometry that a section of the cylinder is circular, in the section of the cylinder, a center of a circle formed by projection points which are obtained by projecting the three marking points on the upper arm to the section along the reference direction is an intersection of the axis vector and the mentioned section. Based on the above theory, in the step 3, a specific process of determining the displacement {right arrow over (D^(pm))} from the reference axis vector to the axis vector comprises:

step 31: as shown in FIG. 3 , determining three marking points M1, M2 and M3 on the skin surface of the human upper arm, and vertical vectors {right arrow over (R¹)}, {right arrow over (R²)}, and {right arrow over (R³)} respectively from the marking points M1, M2 and M3 to the reference axis vector being translated to make a start point of each vertical vector be located at the midpoint MD of the medial and lateral epicondylar points of the humerus at that time; step 32: determining a center of a circle where an end point of each vertical vector is located after translation (represented by mark O), a displacement from the midpoint MD of the medial and lateral epicondyle points of the humerus to the center O being a displacement from the reference axis vector to the axis vector, namely {right arrow over (D^(pm))}.

Specifically, for any time t_(a) in the measurement process, translating a coordinate system to establish a local coordinate system which takes M_(t) _(a) ^(D)=[X_(t) _(a) ^(D) Y_(t) _(a) ^(D) Z_(t) _(a) ^(D)]^(T) as a coordinate origin, then, at the time t_(a), reverse vectors {right arrow over (E_(t) _(a) ^(n))} of vertical vectors respectively from the marking points M1, M2 and M3 to the reference axis vector satisfy a relational formula {right arrow over (R_(t) _(a) ^(n))}=R_(t) _(a) ^(n)−0, wherein, R_(t) _(a) ^(n) represent end coordinates of the vectors {right arrow over (R_(t) _(a) ^(n))}, n=1, 2, 3. In a plane where three points represented by coordinates R_(t) _(a) ¹, R_(t) _(a) ² and R_(t) _(a) ³ are located, find a center of a circle where the three points are located on: since the three points and the center of the circle where the three points are located on are in the same plane, then:

$\begin{matrix} {{{❘\begin{matrix} O_{{xt}_{a}} & O_{{yt}_{a}} & O_{{zt}_{a}} & 1 \\ R_{{xt}_{a}}^{1} & R_{{yt}_{a}}^{1} & R_{{zt}_{a}}^{1} & 1 \\ R_{{xt}_{a}}^{2} & R_{{yt}_{a}}^{2} & R_{{zt}_{a}}^{2} & 1 \\ R_{{xt}_{a}}^{3} & R_{{yt}_{a}}^{3} & R_{{zt}_{a}}^{3} & 1 \end{matrix}❘} = 0},} &  \end{matrix}$

at the same time, because the distances from the three points to the center of the circle where the three points are located on are equal, then:

$\begin{matrix} {{{\left( {R_{{xt}_{a}}^{1} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{1} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{1} - O_{{zt}_{a}}} \right)^{2}} = {{\left( {R_{{xt}_{a}}^{2} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{2} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{2} - O_{{zt}_{a}}} \right)^{2}} = {\left( {R_{{xt}_{a}}^{3} - O_{{xt}_{a}}} \right)^{2} + \left( {R_{{yt}_{a}}^{3} - O_{{yt}_{a}}} \right)^{2} + \left( {R_{{zt}_{a}}^{3} - O_{{zt}_{a}}} \right)^{2}}}},} &  \end{matrix}$

combining formula {circle around (4)} with formula {circle around (5)}, coordinates O_(t) _(a) =[O_(xt) _(a) O_(yt) _(a) O_(zt) _(a) ]^(T) of center O at the time t_(a) can be determined, and then restore them to a global coordinate system, that is, translate the vector {right arrow over (A^(rm))} to make a starting point of the vector{right arrow over (A^(rm))} coincide with the O_(t) _(a) to obtain a translation {right arrow over (D^(pm))}, at this time, an end point of the vector {right arrow over (A^(rm))} after translation is the position of the FRCS

For the step 4: correcting a central axis direction of the cylinder, in this embodiment: the reference axis vector {right arrow over (A^(rm))} is determined according to a bony landmarks point, geometrically, it deviates from the central axis of the cylinder (the line where the axis vector is located), in order to make the calculation results more accurate, a direction of the central axis of the cylinder needs to be corrected.

A rigid cylinder does not be deformed in translation and rotation, so a relative position of points on its surface in the cylinder is unchanged, and then a cutting ratio of an intersection of a cross section where the points on its surface are located and the central axis to a central axis segment is unchanged. The central axis of the cylinder is corrected by introducing a proportion coefficient n of a height of marking point on the surface of the upper arm in the cylinder to a total height of the cylinder.

As shown in FIG. 4 , the step 4 comprises:

step 41: projecting the three marking points M1, M2 and M3 on the surface of the upper arm to the reference axis vector, for any time t_(a) in the process, there being relational formulas

$\begin{matrix} \left\{ \begin{matrix} {{{n_{t_{a}}^{fir}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{1} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{\sec}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{2}}} = {M_{t_{a}}^{2} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{thd}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{3} - M_{t_{a}}^{D}}} \end{matrix} \right. &  \end{matrix}$ and $\begin{matrix} \left\{ \begin{matrix} {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{1}}} = 0} \\ {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{2}}} = 0} \\ {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{3}}} = 0} \end{matrix} \right. &  \end{matrix}$

wherein {right arrow over (R_(t) _(a) ¹)} represents a vector starting from a perpendicular foot from the marking point M1 to the vector {right arrow over (A_(t) _(a) ^(rm))} and pointing to the marking point M1 at time t_(a), meanings of {right arrow over (R_(t) _(a) ²)} and {right arrow over (R_(t) _(a) ³)} can be inferred from this; n_(t) _(a) ^(fir), n_(t) _(a) ^(sec) and n_(t) _(a) ^(thd) respectively represent ratios of vectors starting from MD and pointing to the perpendicular foot of the marking points M1, M2 and M3 to the vector {right arrow over (A_(t) _(a) ^(rm))} at the time t_(a); M_(t) _(a) ¹ represents position coordinates of the marking point M1 at the time t_(a), meanings of M_(t) _(a) ², M_(t) _(a) ³, M_(t) _(a) ^(D), M_(t) _(a) ^(U) can be inferred from this. step 42: marking n^(fir)=[n_(t) ₀ ^(fir) n_(t) _(0+Δt) ^(fir) N_(t) ₀ _(+2Δt) ^(fir) . . . n_(t) _(S) ^(fir)],

${n^{al} = \begin{bmatrix} n^{fir} \\ n^{\sec} \\ n^{thd} \end{bmatrix}},$

combining formula {circle around (6)} with formula {circle around (7)}, and obtaining that at the time t_(a):

$n_{t_{a}}^{al} = {\begin{bmatrix} \left( {M_{t_{a}}^{1} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{2} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{3} - M_{t_{a}}^{D}} \right)^{T} \end{bmatrix} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right) \cdot {\left( {\left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)^{T} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)} \right)^{- 1}.}}$

step 43: the proportion coefficient n is used to describe a proportion of the height of the marking point in the cylinder to the total height of the cylinder, in the rigid cylinder, the coefficient n corresponding to the same marking point does not change during movement of the cylinder. However, since {right arrow over (A^(rm))} is not parallel to the actual central axis, during the whole test period (t_(S)−t₀), the coefficients n of the same marking point at different times are not all the same, so that, a proportion coefficient n_(t) _(j) ^(al) at time t_(j) when the arms are vertically downward in a human standing posture being selected as a standard coefficient, adding a correction amount {right arrow over (A_(ta) ^(cps))} to the {right arrow over (A_(t) _(a) ^(rm))} at any time t₁ to make the proportion coefficient n_(t) _(j) ^(al) close to n_(t) _(j) ^(al), that is to make:

$n^{{al}^{\prime}} = \begin{bmatrix} {n_{t_{j}}^{fir} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{\sec} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{thd} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \end{bmatrix}$

and n^(al′) and {right arrow over (A_(t) _(a) ^(rm′))} after correction meet requirements of the formulas {circle around (4)} and {circle around (5)}. step 44: according to the correction amount {right arrow over (A_(ta) ^(cps))} doesn't change modulus |{right arrow over (A_(t) _(a) ^(rm))}| of the axis vector, obtaining:

|{right arrow over (A _(t) _(a) ^(rm′))}|=|{right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps))}|=|{right arrow over (A _(t) _(a) ^(rm))}|  {circle around (8)}.

step 45: in a conical generatrix set satisfying the first column of formula {circle around (6)}, the first column of formula {circle around (7)} and formula {circle around (8)}, a conical generatrix set satisfying the second column of formula {circle around (6)}, the second column of formula {circle around (7)} and formula {circle around (8)}, and a conical generatrix set satisfying the third column of formula {circle around (6)}, the third column of formula {circle around (7)} and formula {circle around (8)}, respectively selecting solutions closest to {right arrow over (A_(t) _(a) ^(rm))} and combining them to obtain {right arrow over (A_(t) _(a) ^(rm′))}, and then obtaining a final correction {right arrow over (A_(ta) ^(cps))}, according to thefinal correction {right arrow over (A_(ta) ^(cps))}, rewriting the formula {circle around (1)} as:

RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D ^(pm))}  {circle around (13)}

wherein {right arrow over (D_(pm))} is resolved according to the axis vector {right arrow over (A^(rm′))} in the correction direction.

The number of the correction amount {right arrow over (A_(ta) ^(cps))} satisfying the first column of formula {circle around (6)}, the first column of formula {circle around (7)} and formula {circle around (8)} is infinite, as shown in FIG. 5A, FIG. 5B, and FIG. 5C, a set of {right arrow over (A_(t) _(a) ^(rm′))} satisfying the above condition is a conical generatrix set rotating around (M_(t) _(a) ¹−M_(t) _(a) ^(D)); similarly, a set of {right arrow over (A_(t) _(a) ^(rm′))} satisfying the second column of formula {circle around (6)}, the second column of formula {circle around (7)} and formula {circle around (8)} is a conical generatrix set rotating around (M_(t) _(a) ²−M_(t) _(a) ^(D)), a set of {right arrow over (A_(t) _(a) ^(rm′))} satisfying the third column of formula {circle around (6)}, the third column of formula {circle around (7)} and formula {circle around (8)} is a conical generatrix set rotating around (M_(t) _(a) ³−M_(t) _(a) ^(D)); therefore, as shown in FIG. 6 , a simultaneous solution of the formula {circle around (6)}, formula {circle around (7)} and formula {circle around (8)} in space is a common generatrix of three cones with a same vertex. The vertices of the three cones are the same and are M_(t) _(a) ^(D); the central axes of the three cones are (M_(t) _(a) ¹−M_(t) _(a) ^(D)), (M_(t) _(a) ²−M_(t) _(a) ^(D)) and (M_(t) _(a) ³−M_(t) _(a) ^(D)) respectively; length of the generatrix of the three cones is |{right arrow over (A_(t) _(a) ^(rm))}|; perpendicular feet from the three marking points M1, M2 and M3 to their respective generatrices cut the generatrices according to the coefficient n^(al′). However, in practice, there is a situation that there is no a common generatrix of three cones, that is, there is no simultaneous solution of the formula {circle around (6)}, formula {circle around (7)} and formula {circle around (8)}. Therefore, in the three conical generatrix sets, solutions closest to {right arrow over (A_(t) _(a) ^(rm))} are respectively selected and combined to obtain {right arrow over (A_(t) _(a) ^(rm′))}, and then a final correction {right arrow over (A_(ta) ^(cps))} is obtained.

For the marking point M1, when vector M_(t) _(a) ¹−M_(t) _(a) ^(D) is coplanar with {right arrow over (A^(rm))} and its compensation result, there is a minimum |{right arrow over (A_(ta) ^(cps1))}|, setting the coefficient n_(c) as a multiple of extending or shortening a perpendicular from the marking point to the axis to make the perpendicular intersect with the a compensated axis, then n_(c) satisfies the formula:

n _(ct) _(a) ^(fir) [n _(t) _(a) ^(fir)·{right arrow over (A _(t) _(a) ^(rm))}−(M _(t) _(a) ¹ −M _(t) _(a) ^(D))]+(M _(t) _(a) ¹ −M _(t) _(a) ^(D))={right arrow over (M _(t) _(a) ^(1its))}  {circle around (9)}

wherein, n_(ct) _(a) ^(fir) is n_(c) of the marking point M1 on the upper arm at time t_(a), {right arrow over (M_(t) _(a) ^(1its))} is a vector starting from M_(t) _(a) ^(D) and pointing to an intersection of the perpendicular from the marking point M1 to the axis and the compensated axis. {right arrow over (M_(t) _(a) ^(1its))} is collinear with the compensated axis vector, and the modulus ratio between the vectors is:

{right arrow over (M _(t) _(a) ^(1its))}·|{right arrow over (A _(t) _(a) ^(rm))}|/|{right arrow over (M _(t) _(a) ^(1its))}|={right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps1))}  {circle around (10)}.

Substitute the correction result {right arrow over (A_(t) _(a) ^(rm′))}={right arrow over (A_(t) _(a) ^(rm))}+{right arrow over (A_(t) _(a) ^(cps1))} into the formula {circle around (6)}, formula {circle around (7)} and formula {circle around (8)}, then for the marking point M1 there is:

[(M _(t) _(a) ¹ −M _(t) _(a) ^(D))−n _(t) _(j) ^(fir)({right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps))})]·*{right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps1))})=0  {circle around (11)}

formula {circle around (11)} describes that the perpendicular foot from the marking points M1 to the compensated axis cuts the axis vector according to the standard coefficient n_(t) _(a) ^(fir).

When the vector M_(t) _(a) ¹−M_(t) _(a) ^(D), {right arrow over (A^(rm))} and its correction result are in a same plan, the plan intersects the cone at most twice, therefore, in the simultaneous solutions of formula {circle around (9)}, formula {circle around (10)} and formula {circle around (11)}, there are at most two solutions of n_(c) at the same time, a final result n_(c) and all solutions n_(ci) satisfy a formula {circle around (12)}.

|1−n _(c)|=min(|1−n _(ci)|)  {circle around (12)}

For the marking points M2 and M3, perform the same steps as above, and obtain the final correction amount

${\overset{\longrightarrow}{A_{ta}^{cps}}:\overset{\longrightarrow}{A_{ta}^{cps}}} = {\frac{\left( {n_{{ct}_{a}}^{fir} \cdot \overset{\longrightarrow}{A_{ta}^{{cps}1}}} \right) + \left( {n_{{ct}_{a}}^{\sec} \cdot \overset{\longrightarrow}{A_{ta}^{{cps}2}}} \right) + \left( {n_{{ct}_{a}}^{thd} \cdot \overset{\longrightarrow}{A_{ta}^{{cps}3}}} \right)}{\left( {n_{{ct}_{a}}^{fir} + n_{{ct}_{a}}^{\sec} + n_{{ct}_{a}}^{thd}} \right)}.}$

After correction, formula {circle around (1)} is rewritten to obtain a calculation formula of FRCS as follows:

RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D ^(pm))}  {circle around (13)}

wherein {right arrow over (D^(pm))} is resolved according to the axis vector {right arrow over (A^(rm′))} in the correction direction.

For the step 5: determining a height compensation of the cylinder and positioning the FRCS, in this embodiment:

in the step 1 to step 4, the human upper arm is abstracted into a standard rigid cylinder, but in an actual movement of the human body, a deformation of the human upper arm will cause inaccuracy of the abstraction, especially a change of a circumference of the upper arm will directly lead to a change of a radius of the cylinder, and then lead to a change of a distance from the positioning result of the FRCS to the marking point, therefore, it is necessary to compensate the positioning result of the FRCS.

Since a distance from a point on surface of the cylinder to a center of a cylinder top is related to a radius of the cylinder and a height from the point on surface of the cylinder to the cylinder top, error of the positioning result of FRCS caused by the change of the circumference of the upper arm can be compensated by stretching a height of the cylinder. A specific compensation method is:

for the marking point M1, D₁ ^(st) is used to represent a distance between FRCS and the marking point during the test period, m₁ is used to represent an expectation of the distance, l_(t) _(a) ^(rm1) is used to represent a scaling ratio of the vector {right arrow over (A_(t) _(a) ^(rm))} at the time t_(a), then there is:

m ₁ =E[D ₁ ^(st)]  {circle around (14)}

|l _(t) _(a) ^(rm1)·{right arrow over (A _(t) _(a) ^(rm))}−(M _(t) _(a) ¹ −M _(t) _(a) ^(D))|=m ₁  {circle around (15)}

for the marking points M2 and M3, there are relationships shown in formulas {circle around (14)} and {circle around (15)}.

For any time t_(a) during the test period, a scaling ratio of the cylinder, that is, a height compensation coefficient l_(t) _(a) ^(rm) is synthesized by the scaling ratios l_(t) ^(rm1), l_(t) _(a) ^(rm2) and l_(t) _(a) ^(rm3) of the three marking points M1, M2 and M3 according to:

l _(t) _(a) ^(rm)=Σ_(i=1) ³ l _(t) _(a) ^(rmi) ·k ^(i)/(k ¹ +k ² +k ³)  {circle around (16)}

wherein, k¹ represents a range of the distance from the marking point M1 to FRCS during the measurement time, k² represents a range of a distance from the marking point M2 to FRCS during the measurement time, and k³ represents a range of a distance from the marking point M3 to FRCS during the measurement time.

After compensation, the formula {circle around (13)} is rewritten to obtain a final calculation formula of FRCS:

RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D ^(pm))}−(1−l ^(rm))({right arrow over (A ^(rm))}+{right arrow over (A ^(cps))})  {circle around (17)}

wherein, l^(rm) is the height compensation coefficient of the cylinder.

In summary, a process of the positioning method of FRCS is shown in FIG. 7 , firstly, the human upper arm is abstracted as the rigid cylinder, the reference axis vector and the axis vector of the cylinder are determined; then, the reference axis vector is corrected by adding the correction amount {right arrow over (A^(cps))}, and the corrected result is ({right arrow over (A^(rm))}+{right arrow over (A ^(cps))}), the translation of the reference axis vector to the axis vector {right arrow over (D^(pm))} is re-determined; and finally, the height of the cylinder is compensated, the height compensation coefficient l^(rm) is determined, and the final positioning result of FRCS is obtained.

Embodiment 2

In order to verify the accuracy of the positioning method of FRCS, experiments are carried out, and the experimental results are analyzed.

Experiment

Twenty-eight adult males (18-55 years old) without upper limb dysfunction were selected as subjects to participate in the experiment, morphological parameters of the subjects are shown in Table 1. Before the experiment, all the subjects were informed of a purpose and a procedure of the experiment, and signed a consent form. In an actual measurement process, Qualisys 3D motion acquisition and analysis system was used. The system is produced by Qualisys company in Sweden and consists of motion capture camera, analysis software, acquisition unit, calibration equipment, marking ball and equipment fixing device. In the experiment, a total of 17 cameras were set, including 4 video cameras and 13 measurement cameras, the 17 cameras were evenly distributed around an experimental site, a specific distribution is shown in FIG. 8 . All camera angles were adjusted to make the experimental site in centers of lens shooting ranges. A calibration accuracy of each experiment was kept below 0.7 mm.

TABLE 1 The morphological parameters of the 28 subjects morphological parameter average maximum minimum variance 1 weight [kg] 70.23 100 47.4 13.21 2 distance to wall [mm] 106.13 190 70 22.05 3 height [mm] 1689.40 1811 1601 46.96 4 chest girth [mm] 910.77 1160 775 92.06 5 lower chest circumference [mm] 883.07 1018 732 81.33 6 right upper arm length [mm] 318.17 341 285 13.89 7 shoulder width (width between two 391.30 433 366 19.05 acromion points) [mm] 8 chest width corresponding to a 310.90 366 259 26.09 height of a lower chest point [mm] chest thickness-chest width 9 corresponding to a height of a 221.30 259 186 21.42 midpoint of the chest [mm] 10 chest depth-a thickness at the 232.33 292 164 29.85 lower chest point [mm] 11 distance form forearm to fingertip 453.53 482 428 14.84 [mm]

A measurement of upper arm angle requires an upright trunk, and in order to make scapulae participate in the upper arm movement as little as possible, gaits of the subjects were tested. 71 marking points were pasted on the subjects, FIG. 9 shows pasting positions of the marking points on the human upper arm. During the experiment, the test period was 30 s, during the test period, the subjects made actions such as standing, walking and turning, and 3000 frames of position information of each marking point were collected.

In process of positioning and analysis of FRCS, six marking points are used for each arm, namely: acromion point, medial and lateral epicondyle points of humerus and three marking points on the upper arm. The pasting positions of the three marking points M1, M2 and M3 on the upper arm meet two rules: (1) the three points can't be in a straight line; (2) the distance between the three points should be as large as possible. In this embodiment, the pasting positions of the three points not only conform to the above two rules, but also ensure that projections of the three marking points on a cross section of the upper arm divide the cross section circle into three equal parts as much as possible. In order to simplify calculation and verify results, overhead point, neck point, upper chest point, lower chest point and thoracic vertebrae points corresponding to a height of the lower chest point can be added.

FIG. 10 shows a data acquisition result of the marking points of a subject, and FIG. 11 shows a motion trajectory of a right upper arm of a subject, it can be found that the upper arm of the subject performs not only rotational motion, but also translational motion.

Analysis of Experimental Results

Taking subject No. 1 as an example, FIG. 12 shows a relative position in trunk of the FRCS positioning result, the calculation result shows that the FRCS of right shoulder is about 5 cm closer to the left acromion, about 1 cm lower than the right acromion and 0.5 cm behind the right acromion. Table 2 shows correction {right arrow over (A^(cps))} of the central axis of the cylinder of subject No. 1 at some moments.

TABLE 2 components of the correction 

 of the central axis of the cylinder of subject No. 1 at some moments

 ( 

 − 

 ) t/s x/mm y/mm z/mm 11.9900 −2.9456 1.9101 −0.8819 12.0000 −2.7625 1.9091 −0.8211 12.0100 −2.7484 1.6856 −0.8668 12.0200 −2.7570 1.8888 −0.8453 12.0300 −2.7441 1.7802 −0.8691 12.0400 −2.6961 1.8211 −0.8535 12.0500 −2.6920 1.9239 −0.8460 12.0600 −2.6027 2.0851 −0.7835 . . . . . . . . . . . . 16.9500 −1.69514 −3.24737 −0.93132 16.9600 −1.47387 −3.04155 −0.84052 16.9700 −1.25583 −3.20395 −0.83312 16.9800 −1.23593 −3.33113 −0.8498 Average −1.1698 0.4765 −0.5088 S.D. 1.6467 1.4763 0.5291

For subject No. 1, FIG. 13 shows the coefficient n of the three marking points M1, M2 and M3 on the upper arm to a corrected axial vector, FIG. 14 shows variation trend of the coefficient n of the three marking points M1, M2 and M3 on the upper arm to the axis vector before and after correction during the test time, table 3 shows statistical parameters of the coefficient n of the three marking points M1, M2 and M3 on the upper arm to the axis vector before and after correction.

TABLE 3 comparison of coefficient n before and after correction of the axis vector of the upper arm (11.99 s-16.98 s) Avg. S.D. Max. Min. Max.-Min. coefficient mark1 0.5878 0.0013 0.5910 0.5839 0.0071 n before mark2 0.3105 0.0034 0.3147 0.3023 0.0124 correction mark3 0.2395 0.0021 0.2425 0.2344 0.0081 coefficient mark1 0.5879 0.0011 0.5901 0.5861 0.0040 n after mark2 0.3095 0.0020 0.3119 0.3045 0.0074 correction mark3 0.2394 0.0015 0.2417 0.2363 0.0054

FIG. 15 shows a translation correction of a central axis position, wherein the translation {right arrow over (D^(pm))} is the translation correction amount of the axis vector; R is the radius of the rigid cylinder of the upper arm, and statistical parameters of R are shown in table 4.

TABLE 4 radius R of the upper arm R/mm (11.99 s-16.98 s) Average 40.2043 S.D. 2.323 Max. 44.3065 Min. 36.4731

FIG. 16 shows before compensation, variations of distances from the FRCS positioning result to the three marking points M1, M2 and m3 on the upper arm, variation trends of these three distances are very similar, and standard deviations of these three distances are 3.0763 mm, 2.9816 mm and 2.5329 mm respectively; FIG. 17 shows after compensation, variations of distances from the FRCS to the three marking points M1, M2 and m3 on the upper arm, and standard deviations of these three distances are reduced to 0.7202 mm, 0.4144 mm and 0.3971 mm respectively.

Table 5 shows a scaling coefficient l^(rm) of the height of the cylinder during the compensation process.

TABLE 5 scaling coefficient l^(rm) of the height of the cylinder l^(rm) (11.99 s-16.98 s) Average 1.0000 S.D. 0.0029 Max. 1.0047 Min. 0.9909

FRCS is the rotation center of the upper arm in motion, ideally, the distances from FRCS to the three marking points M1, M2 and m3 in the upper arm should be consistent respectively, therefore, a standard deviation in the process of distance change is very important to describe a reliability of the method. FIG. 18 shows the standard deviations in the process of distance change from the FRCS positioning result to the three marking points on the upper arm for right shoulders of 28 subjects, wherein error of subject No. 27 is unreasonable, especially the error of the third marking point is much more than a sum of an average value and triple standard deviation, this may be caused by violent shaking caused by weak pasting of the marking point in the experiment, table 6 records relevant values of the standard deviations of changing distance from the FRCS to the marking point for the other 27 subjects during the test.

It can be seen from FIG. 16-18 and table 6 that for the positioning method of FRCS provided by the present invention, the standard deviations of the changing distance from the FRCS positioning result to the three marking points M1, M2 and M3 on the upper arm is between 0.081 and 2.2973, indicating that the positioning method of FRCS provided by the present invention has high accuracy and reliability, the positioning result of FRCS has better stability relative to the upper arm and trunk, and can be used to establish a more accurate human digital dynamic model and predict more accurate human posture.

TABLE 6 the standard deviations of changing distance from the FRCS to the three marking points for 27 subjects during the test standard deviations of changing distance from the FRCS to the three marking points standard deviation/mm average max min S.D. M1 1.1396 2.2973 0.2397 0.5763 M2 0.6718 2.0618 0.1704 0.4651 M3 0.6582 1.6031 0.081 0.4923

It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the foregoing embodiments have been described in detail, those skilled in the art should understand that they can modify recorded technical solutions in the foregoing embodiments or equivalently replaced some or all of the technical features, and these replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present invention. 

What is claimed is:
 1. A positioning method of a functional rotation center of a shoulder (FRCS) based on a rigid upper arm model, comprising: step 1: abstracting a human upper arm into a cylinder with the FRCS as a center of a top surface; step 2: determining a reference axis vector of the cylinder; step 3: determining an axis vector of the cylinder and a displacement from the reference axis vector to the axis vector, wherein, the reference axis vector is translated {right arrow over (D^(pm))} in a direction perpendicular to a reference direction of the cylinder, to obtain the axis vector, and a distance from the axis vector to each point on a skin surface of the human upper arm is equal; step 4: correcting the reference axis vector of the cylinder; step 5: determining a height compensation of the cylinder, and positioning the FRCS.
 2. The positioning method of the FRCS based on the rigid upper arm model according to claim 1, wherein, in the step 2, the reference axis vector is a vector {right arrow over (A^(rm))} which starts from a midpoint (represented by mark MD) of medial and lateral epicondylar points of a humerus on a human surface to an acromion point (represented by mark MU), and a direction of the vector {right arrow over (A^(rm))} is the reference direction of the cylinder; {right arrow over (A^(rm))}M^(U)−M^(D), wherein M^(U)=[X^(U) Y^(U) Z^(U)]^(T) represents position information of the acromion point MU, M^(D)=[X^(D) Y^(D) Z^(D)]^(T) represents position information of the midpoint MD of the medial and lateral epicondylar points of the humerus; for any point A on a skin surface of the human upper arm, position information of the point A from starting time t₀ to ending time t_(S) is expressed as M^(A), $M^{A} = \begin{matrix} \left\lbrack X^{A} \right. & Y^{A} & {{\left. Z^{A} \right\rbrack^{T} = \begin{bmatrix} X_{t_{0}}^{A} & X_{t_{0} + {\Delta t}}^{A} & X_{t_{0} + {2\Delta t}}^{A} & \ldots & X_{t_{s}}^{A} \\ Y_{t_{0}}^{A} & Y_{t_{0} + {\Delta t}}^{A} & Y_{t_{0} + {2\Delta t}}^{A} & \ldots & Y_{t_{s}}^{A} \\ Z_{t_{0}}^{A} & Z_{t_{0} + {\Delta t}}^{A} & Z_{t_{0} + {2\Delta t}}^{A} & \ldots & Z_{t_{s}}^{A} \end{bmatrix}},} \end{matrix}$ wherein t_(S)=t₀+kΔt, k≥3, Δt is a sampling interval.
 3. (canceled)
 4. The positioning method of the FRCS based on the rigid upper arm model according to claim 1, wherein, in the step 3, an end point of the axis vector is a vertex of the cylinder, that is, the FRCS, and position information of the FRCS is expressed as: RCS ^(F) =M ^(U)+{right arrow over (D ^(pm))}  {circle around (1)}.
 5. The positioning method of the FRCS based on the rigid upper arm model according to claim 4, wherein, the step 3 comprises: step 31: determining three marking points M1, M2 and M3 on the skin surface of the human upper arm, and vertical vectors {right arrow over (R¹)}, {right arrow over (R²)}, and {right arrow over (R³)} respectively from the marking points M1, M2 and M3 to the reference axis vector being translated to make a start point of each of the vertical vectors be located at the midpoint MD of the medial and lateral epicondylar points of the humerus at that time; step 32: determining a center of a circle where an end point of each of the vertical vectors is located after a translation (represented by mark O), a displacement from the midpoint MD of the medial and lateral epicondyle points of the humerus to the center O being {right arrow over (D^(mp))} denoting a displacement from the reference axis vector to the axis vector.
 6. The positioning method of the FRCS based on the rigid upper arm model according to claim 4, wherein, in the step 3, for any time t_(a) in a process, a coordinate system is translated to establish a local coordinate system, wherein the local coordinate takes M_(t) _(a) ^(D)=[X_(t) _(a) ^(D) Y_(t) _(a) ^(D) Z_(t) _(a) ^(D)]^(T) as a coordinate origin, then, at the time t_(a), reverse vectors {right arrow over (R_(t) _(a) ^(n))} of vertical vectors respectively from marking points M1, M2 and M3 to the reference axis vector satisfy a relational formula {right arrow over (R_(t) _(a) ^(n))}=R_(t) _(a) ^(n)−0, wherein, R_(t) _(a) ^(n) represent end coordinates of the vectors {right arrow over (R_(t) _(a) ^(n))}, n=1, 2,
 3. 7. The positioning method of the FRCS based on the rigid upper arm model according to claim 6, wherein, according to formula $\begin{matrix} {{❘\begin{matrix} O_{{xt}_{a}} & O_{{yt}_{a}} & O_{{zt}_{a}} & 1 \\ R_{{xt}_{a}}^{1} & R_{{yt}_{a}}^{1} & R_{{zt}_{a}}^{1} & 1 \\ R_{{xt}_{a}}^{2} & R_{{yt}_{a}}^{2} & R_{{zt}_{a}}^{2} & 1 \\ R_{{xt}_{a}}^{3} & R_{{yt}_{a}}^{3} & R_{{zt}_{a}}^{3} & 1 \end{matrix}❘} = 0} &  \end{matrix}$ and formula $\begin{matrix} {{{\left( {R_{xt_{a}}^{1} - O_{xt_{a}}} \right)^{2} + \left( {R_{yt_{a}}^{1} - O_{yt_{a}}} \right)^{2} + \left( {R_{zt_{a}}^{1} - O_{zt_{a}}} \right)^{2}} = {{\left( {R_{xt_{a}}^{2} - O_{xt_{a}}} \right)^{2} + \left( {R_{yt_{a}}^{2} - O_{yt_{a}}} \right)^{2} + \left( {R_{zt_{a}}^{2} - O_{zt_{a}}} \right)^{2}} = {\left( {R_{xt_{a}}^{3} - O_{xt_{a}}} \right)^{2} + \left( {R_{yt_{a}}^{3} - O_{yt_{a}}} \right)^{2} + \left( {R_{zt_{a}}^{3} - O_{zt_{a}}} \right)^{2}}}},} &  \end{matrix}$ determining coordinates O_(t) _(a) =[O_(xt) _(a) O_(yt) _(a) O_(zt) _(a) ]^(T) of the center O at the time t_(a), restoring the coordinates O_(t) _(a) =[O_(xt)O_(yt) _(a) O_(zt) _(a) ]^(T) to a global coordinate system, wherein the vector {right arrow over (A^(rm))} is translated to make a starting point of the vector A^(rm) coincide with the O_(t) _(a) to obtain a translation {right arrow over (D^(pm))}, at this time, an end point of the vector {right arrow over (A^(rm))} after the translation is the a position of the FRCS.
 8. The positioning method of the FRCS based on the rigid upper arm model according to claim 7, wherein, in the step 4, a central axis of the cylinder is corrected by introducing a proportion coefficient n of a height of the marking points on the skin surface of the human upper arm in the cylinder to a total height of the cylinder.
 9. The positioning method of the FRCS based on the rigid upper arm model according to claim 8, wherein, the step 4 comprises: step 41: projecting the three marking points M1, M2 and M3 on the skin surface of the human upper arm to the reference axis vector, for any time t_(a) in the process, there being relational formulas $\begin{matrix} \left\{ \begin{matrix} {{{n_{t_{a}}^{fir}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{1} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{\sec}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{2}}} = {M_{t_{a}}^{2} - M_{t_{a}}^{D}}} \\ {{{n_{t_{a}}^{thd}\overset{\longrightarrow}{A_{t_{a}}^{rm}}} + \overset{\longrightarrow}{R_{t_{a}}^{1}}} = {M_{t_{a}}^{3} - M_{t_{a}}^{D}}} \end{matrix} \right. &  \end{matrix}$ and $\begin{matrix} \left\{ \begin{matrix} {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{1}}} = 0} \\ {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{2}}} = 0} \\ {{\overset{\longrightarrow}{A_{t_{a}}^{rm}} \cdot \overset{\longrightarrow}{R_{t_{a}}^{3}}} = 0} \end{matrix} \right. &  \end{matrix}$ wherein {right arrow over (R_(t) _(a) ¹)} represents a vector starting from a perpendicular foot from the marking point M1 to a vector {right arrow over (A_(t) _(a) ^(rm))} and pointing to the marking point M1 at the time t_(a), meanings of {right arrow over (R_(t) _(a) ²)} and {right arrow over (R_(t) _(a) ³)} can be inferred from a meaning of {right arrow over (R_(t) _(a) ¹)}; n_(t) _(a) ^(fir), n_(t) _(a) ^(sec) and n_(t) _(a) ^(thd) respectively represent ratios of vectors starting from MD and pointing to perpendicular feet from the marking points M1, M2 and M3 to the vector {right arrow over (A_(t) _(a) ^(rm))} at the time t_(a); M_(t) _(a) ¹ represents position coordinates of the marking point M1 at the time t_(a), meanings of M_(t) _(a) ², M_(t) _(a) ³, M_(t) _(a) ^(D), M_(t) _(a) ^(U) can be inferred from a meaning of M_(t) _(a) ¹; step 42: marking n^(fir)=[n_(t) ₀ ^(fir) n_(t) ₀ _(+Δt) ^(fir) n_(t) ₀ _(+2Δt) ^(fir) . . . n_(t) _(S) ^(fir)], ${n^{al} = \begin{bmatrix} n^{fir} \\ n^{\sec} \\ n^{thd} \end{bmatrix}},$ in combining formula {circle around (6)} with formula {circle around (7)}, and obtaining that at the time t_(a): ${n_{t_{a}}^{al} = {\begin{bmatrix} \left( {M_{t_{a}}^{1} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{2} - M_{t_{a}}^{D}} \right)^{T} \\ \left( {M_{t_{a}}^{3} - M_{t_{a}}^{D}} \right)^{T} \end{bmatrix} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right) \cdot \left( {\left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)^{T} \cdot \left( {M_{t_{a}}^{U} - M_{t_{a}}^{D}} \right)} \right)^{- 1}}}\underline{;}$ step 43: selecting a proportion coefficient n_(t) _(j) ^(al) at time t_(j) when arms are vertically downward in a human standing posture as a standard coefficient, adding a correction amount {right arrow over (A_(t) _(a) ^(cps))} to the {right arrow over (A_(t) _(a) ^(rm))} at the any time t_(a) to make the proportion coefficient n_(t) _(a) ^(al) close to n_(t) _(j) ^(al), that is to make: $n^{{al}^{\prime}} = \begin{bmatrix} {n_{t_{j}}^{fir} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{\sec} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \\ {n_{t_{j}}^{thd} \cdot \begin{bmatrix} 1 & 1 & \ldots & 1 \end{bmatrix}} \end{bmatrix}$ and n^(al′) and {right arrow over (A_(t) _(a) ^(rm′))} after corrected meet requirements of formulas {circle around (4)} and {circle around (5)}; step 44: according to the correction amount {right arrow over (A_(ta) ^(cps))} without changing modulus |{right arrow over (A_(t) _(a) ^(rm))}| of the axis vector, obtaining: |{right arrow over (A _(t) _(a) ^(rm′))}|=|{right arrow over (A _(t) _(a) ^(rm))}+{right arrow over (A _(t) _(a) ^(cps))}|=|{right arrow over (A _(t) _(a) ^(rm))}|  {circle around (8)}; step 45: in a conical generatrix set satisfying a first column of formula {circle around (6)}, a first column of formula {circle around (7)}, and formula {circle around (8)}, a conical generatrix set satisfying a second column of formula {circle around (6)}, a second column of formula {circle around (7)}, and formula {circle around (8)}, and a conical generatrix set satisfying a third column of formula {circle around (6)}, a third column of formula {circle around (7)}, and formula {circle around (8)}, respectively selecting solutions closest to {right arrow over (A_(t) _(a) ^(rm))} and combining the solutions to obtain {right arrow over (A_(t) _(a) ^(rm′))}, and then obtaining a final correction {right arrow over (A_(ta) ^(cps))}, according to the final correction {right arrow over (A_(ta) ^(cps))}, rewriting formula {circle around (1)} as: RCS ^(F) =M ^(U)+{right arrow over (A^(cps))}+{right arrow over (D ^(pm))}  {circle around (13)} wherein {right arrow over (D^(pm))} is resolved according to an axis vector {right arrow over (A^(rm′))} in a correction direction.
 10. The positioning method of the FRCS based on the rigid upper arm model according to claim 9, wherein, in the step 5, after determining the height compensation of the cylinder, a final calculation formula of the FRCS is: RCS ^(F) =M ^(U)+{right arrow over (A ^(cps))}+{right arrow over (D ^(pm))}−(1−l ^(rm))({right arrow over (A ^(rm))}+{right arrow over (A ^(cps))})  {circle around (17)} wherein, the l^(rm) is a height compensation coefficient of the cylinder. 